CN102922534B - Robot clamp quick-change mechanism - Google Patents
Robot clamp quick-change mechanism Download PDFInfo
- Publication number
- CN102922534B CN102922534B CN201210429763.9A CN201210429763A CN102922534B CN 102922534 B CN102922534 B CN 102922534B CN 201210429763 A CN201210429763 A CN 201210429763A CN 102922534 B CN102922534 B CN 102922534B
- Authority
- CN
- China
- Prior art keywords
- sliding sleeve
- cavity
- positioning body
- flange
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
- Insertion Pins And Rivets (AREA)
Abstract
The invention discloses a kind of robot clamp quick-change mechanism, it comprises the body that is connected, sliding sleeve, driving mechanism, positioning body and flange sleeve, the body right-hand member that is connected is fixedly connected with robot flange, flange sleeve right-hand member entangles the outer wall of the body left end that is connected, the body that is connected is middle is formed with cavity, sliding sleeve is set in cavity, driving mechanism is fixedly connected with the body that is connected, be connected body sidewall on be formed with several inner position hole communicated with cavity, the position that the sidewall of flange sleeve corresponds to each inner position hole is formed with the outside fix hole communicated with it respectively, positioning body is set in each inner position hole respectively, under the effect of driving mechanism, sliding sleeve can horizontally slip along cavity, in the sliding process of sliding sleeve, sliding sleeve can prop up the inner of positioning body, force the other end of positioning body to snap in corresponding outside fix hole simultaneously.Like this, just achieve being fixedly connected with of be connected body and flange sleeve by positioning body, inner position hole, outside fix hole and the cooperation of sliding sleeve, thus realize the connection of robot and fixture.
Description
Technical field
The present invention relates to the bindiny mechanism of a kind of robot and fixture, specifically, relate to a kind of robot clamp quick-change mechanism easily, fast realizing being connected between robot with fixture.
Background technology
In robot system, a robot generally needs corresponding a few cover work piece holder, during one sleeve clamp work, other fixture puts workpiece well, waits for that robot transport carries out work to other place, traditional mounting means between robot with fixture is connected by flange and screw, but the connected mode of this structure dismounting and install all very inconvenient, and after robot connects with fixture, its relative position is extremely fixing, do not possess fine adjustment function, design inadequate hommization.
Summary of the invention
For above deficiency, the invention provides a kind of structure simple, easy to operate, and can be light, fast realize the robot clamp quick-change mechanism be connected between robot with fixture, it comprises one and is fixedly installed in the body that is connected on robot flange, the centre of the described body that is connected is formed with cavity, the sliding sleeve that can horizontally slip along cavity is arranged with in described cavity, be connected and body be installed with one and can drag the driving mechanism that sliding sleeve horizontally slips along cavity, be connected body sidewall on be formed with at least one inner position hole communicated with cavity, a positioning body that can slide up and down along it is arranged with in inner position hole described in each, the outer wall of body of being connected is arranged with one for fixedly mounting the flange sleeve of fixture, the position that the sidewall of described flange sleeve corresponds to each inner position hole is formed with an outside fix hole respectively, in the sliding process of sliding sleeve, sliding sleeve can prop up the inner of positioning body, sliding sleeve forces the other end of positioning body to snap in corresponding outside fix hole.
Described driving mechanism is the cylinder of a horizontally set, and the cylinder block of described cylinder is fixedly installed on the body that is connected, and the piston rod of cylinder extend in cavity, and the other end of piston rod is fixedly connected with sliding sleeve.
The screw mandrel that described driving mechanism comprises horizontally set and the motor driving described screw mandrel to rotate, one end of screw mandrel is fixedly connected with the output shaft of described motor, be connected described in motor is fixedly installed on body, the position that sliding sleeve corresponds to screw mandrel is provided with the screw being mated action.
Described being connected between body and robot flange is provided with adpting flange, is connected between body and adpting flange and is connected by screw, be connected by screw between adpting flange and robot flange.
Positioning body described in each is spheroid, and the length in described inner position hole is less than the diameter of positioning body, and when described sliding sleeve props up each positioning body inner, sliding sleeve forces the outer end of each positioning body to snap onto in corresponding outside fix hole.
Positioning body described in each is cylinder, the inner of this cylinder is a plane be obliquely installed, the direction that the incline direction of this cylinder the inner and sliding sleeve slide is in same plane, when described sliding sleeve props up each positioning body inner, sliding sleeve forces the outer end of each positioning body to snap onto in corresponding outside fix hole.
The exterior contour of one end that described sliding sleeve contacts with positioning body is stage body.
The inwall of the cavity of the described body that is connected is provided with the copper sheathing that auxiliary sliding sleeve horizontally slips along cavity.
The described correspondence position being connected body and copper sheathing is formed with the oil filler point communicated with the body cavity body that is connected, and is provided with priming cup in described oil filler point.
Beneficial effect of the present invention: the present invention is horizontally slipped by the cavity of driving mechanism dragging sliding sleeve along the body that is connected, in the process that sliding sleeve slides left, the inner of each positioning body slowly outwards holds up by sliding sleeve, the outer end of each positioning body is made to snap onto in corresponding outside fix hole, thus being fixedly connected with of realize being connected body and flange sleeve (being fixedly connected with fixture), to realize the relative fixing of position between robot with fixture, when changing flange sleeve (fixture), drag sliding sleeve by driving mechanism to slide to the right, in the process that sliding sleeve slides left, slowly become loosening between each positioning body and sliding sleeve, each positioning body can move along each inner position Kong Xiang center, thus slowly depart from outside fix hole, realize being separated of robot and fixture (flange sleeve), then take off original flange to carry, another flange sleeve (being fixedly connected with another fixture) in replacement, drag sliding sleeve by driving mechanism again to slide left, until the outer end of each positioning body snaps onto in corresponding outside fix hole, so just can realize robot quick-replaceable flange sleeve (fixture), structure is simple, easy to operate, design hommization more.In addition, positioning body of the present invention adopts sphere structure, loosens driving mechanism a little, both can realize flange sleeve relative to the trickle adjustment of the body position that is connected, and can increase work efficiency greatly.
Accompanying drawing explanation
Fig. 1 is the structural representation of robot clamp quick-change mechanism of the present invention.
Detailed description of the invention
Be further elaborated the present invention below in conjunction with accompanying drawing, wherein, direction of the present invention take Fig. 1 as standard.
As shown in Figure 1, robot clamp quick-change mechanism of the present invention comprises the body 2 that is connected, sliding sleeve 3, driving mechanism 4, positioning body 5 and flange sleeve 6, body 2 one end (right-hand member) that is connected is fixedly connected with robot flange 1, robot flange 1 is for being fixedly connected with robot, be connected can to adopt between body 2 with robot flange 1 and weld or bolted mode, one end (left end) of flange sleeve 6 is fixedly connected with the fixture fixture of workpiece (or with), the other end (right-hand member) of flange sleeve 6 entangles the outer wall of body 2 left end that is connected, the be connected centre of body 2 is formed with cavity 21, sliding sleeve 3 is set in cavity 21, and sliding sleeve 3 can horizontally slip along cavity 21 under the effect of external force, driving mechanism 4 adopts welding or bolted mode to be fixedly connected with the body 2(right-hand member that is connected), driving mechanism 4 can drag sliding sleeve 3 and horizontally slip along cavity 21, be connected body 2 sidewall on be formed with at least one inner position hole 22 communicated with cavity 21, the position that the sidewall of flange sleeve 6 corresponds to each inner position hole 22 is formed with the outside fix hole 61 communicated with it respectively, the quantity in inner position hole 22 and outside fix hole 61 needs according to the intensity between fixture during work and robot and determines, intensity is larger, quantity is more, positioning body 5 is set in each inner position hole 22 respectively, the length of positioning body 5 is greater than the length in inner position hole 22, positioning body 5 can slide up and down along inner position hole 22 under the effect of external force, under the effect of driving mechanism 4, sliding sleeve 3 can horizontally slip along cavity 21, in the sliding process of sliding sleeve 3, sliding sleeve 3 can prop up the inner of positioning body 5, sliding sleeve 3 forces the other end of positioning body 5 to snap in corresponding outside fix hole 61 simultaneously.Like this, just achieve being fixedly connected with of be connected body 2 and flange sleeve 6 by positioning body 5, inner position hole 22, outside fix hole 61 and the cooperation of sliding sleeve 3, thus realize the relative fixing of position between robot with fixture.
Wherein, driving mechanism 4 of the present invention can adopt following proposal to realize: driving mechanism 4 is the cylinder of a horizontally set, the cylinder block of cylinder is fixedly installed on the body that is connected (right-hand member), and the piston rod of cylinder extend in cavity, and the other end (left end) top of piston rod is fixedly connected with sliding sleeve 3.Driving mechanism 4 of the present invention can also adopt following proposal to realize: the screw mandrel that driving mechanism 4 comprises horizontally set and the motor driving screw mandrel to rotate, one end (right-hand member) of screw mandrel is fixedly connected with the output shaft of motor, motor is fixedly installed on the body that is connected, and the position that sliding sleeve 3 corresponds to screw mandrel is provided with the screw being mated action.Like this, just can drag sliding sleeve 3 by the piston rod of cylinder or screw mandrel to horizontally slip along the cavity 21 of the body 2 that is connected.
In addition, positioning body 5 of the present invention can adopt following proposal to realize: all positioning bodies 5 are spheroid, the length in each inner position hole 22 is less than the diameter of positioning body 5, when sliding sleeve 3 props up each positioning body 5 inner, sliding sleeve 3 forces the outer end of each positioning body 5 to snap onto in corresponding outside fix hole 61.Positioning body 5 of the present invention can also adopt following proposal to realize: all positioning bodies 5 are cylinder, the inner of this cylinder is a plane be obliquely installed, the direction that the incline direction of this cylinder inner face and sliding sleeve 3 slide is in same plane, when sliding sleeve 3 props up each positioning body 5 inner, sliding sleeve 3 forces the outer end of each positioning body 5 to snap onto in corresponding outside fix hole 61.
In order to realize the harmony of sliding sleeve 3 and positioning body 5, the exterior contour of one end (left end) that sliding sleeve 3 of the present invention contacts with positioning body 5 adopts stage body, and in the process that sliding sleeve 3 slides, positioning body 5 slides along the rake of sliding sleeve 3; For the ease of the installation of the body 2 that is connected, of the present invention being connected between body 2 and robot flange 1 is provided with adpting flange 8, is connected between body 2 and adpting flange 8 and is connected by screw, be connected by screw between adpting flange 8 and robot flange 1; In order to ensure the sliding effect of sliding sleeve 3 in the cavity 21 being connected body 2, reduce the resistance that sliding sleeve 3 is subject to as much as possible, the present invention installs at the inwall of the cavity 21 of the body 2 that is connected the copper sheathing 9 that an auxiliary sliding sleeve 3 horizontally slips along cavity 21, and the correspondence position of be connected body 2 and copper sheathing 9 is formed with the oil filler point 23 communicated with body 2 cavity 21 that is connected, and is provided with priming cup 10 in oil filler point 23.
In actual process, the internal diameter of flange sleeve 6 is slightly larger than the external diameter of the body 2 that is connected, be connected the internal diameter of body 2 slightly larger than the external diameter of sliding sleeve 3, the internal diameter of copper sheathing 9 is between the internal diameter and the external diameter of sliding sleeve 3 of the body 2 that is connected, and the longitudinal length of positioning body 5 is greater than the length in inner position hole 22, the trans D of positioning body 5 is slightly less than the diameter in inner position hole 22, but slightly larger than the diameter in outside fix hole 61.
The foregoing is only better embodiment of the present invention, the present invention is not limited to above-mentioned embodiment, the structural modification that local is small may be there is in implementation process, if do not depart from the spirit and scope of the present invention to various change of the present invention or modification, and belonging within claim of the present invention and equivalent technologies scope, then the present invention is also intended to comprise these change and modification.
Claims (7)
1. a robot clamp quick-change mechanism, it is characterized in that, it comprises one and is fixedly installed in the body that is connected (2) on robot flange (1), the centre of the described body that is connected (2) is formed with cavity (21), the sliding sleeve (3) that can horizontally slip along cavity (21) is arranged with in described cavity (21), be connected and body (2) be installed with one and can drag the driving mechanism (4) that sliding sleeve (3) horizontally slips along cavity (21), be connected body (2) sidewall on be formed with at least one inner position hole (22) communicated with cavity (21), a positioning body (5) that can slide up and down along it is arranged with in inner position hole (22) described in each, the outer wall of body (2) of being connected is arranged with one for fixedly mounting the flange sleeve (6) of fixture, the position that the sidewall of described flange sleeve (6) corresponds to each inner position hole (22) is formed with an outside fix hole (61) respectively, in the sliding process of sliding sleeve (3), sliding sleeve (3) can prop up the inner of positioning body (5), sliding sleeve (3) forces the other end of positioning body (5) to snap in corresponding outside fix hole (61), the inwall of the cavity (21) of the described body that is connected (2) is provided with the copper sheathing (9) that auxiliary sliding sleeve (3) horizontally slips along cavity (21), the correspondence position of the described body that is connected (2) and copper sheathing (9) is formed with the oil filler point (23) communicated with the body that is connected (2) cavity (21), priming cup (10) is installed in described oil filler point (23).
2. robot clamp quick-change mechanism according to claim 1, it is characterized in that, described driving mechanism (4) is the cylinder of a horizontally set, the cylinder block of described cylinder is fixedly installed on the body that is connected, the piston rod of cylinder extend in cavity, and the other end of piston rod is fixedly connected with sliding sleeve.
3. robot clamp quick-change mechanism according to claim 1, it is characterized in that, the screw mandrel that described driving mechanism (4) comprises horizontally set and the motor driving described screw mandrel to rotate, one end of screw mandrel is fixedly connected with the output shaft of described motor, be connected described in motor is fixedly installed on body, sliding sleeve (3) is provided with corresponding to the position of screw mandrel the screw being mated action.
4. robot clamp quick-change mechanism according to claim 1, it is characterized in that, adpting flange (8) is provided with between the described body that is connected (2) and robot flange (1), be connected between body (2) and adpting flange (8) and be connected by screw, be connected by screw between adpting flange (8) and robot flange (1).
5. robot clamp quick-change mechanism according to claim 1, it is characterized in that, positioning body described in each (5) is spheroid, the length of described inner position hole (22) is less than the diameter of positioning body (5), when described sliding sleeve (3) props up each positioning body (5) inner, sliding sleeve (3) forces the outer end of each positioning body (5) to snap onto in corresponding outside fix hole (61).
6. robot clamp quick-change mechanism according to claim 1, it is characterized in that, positioning body described in each (5) is cylinder, the inner of this cylinder is a plane be obliquely installed, the direction that the incline direction of this cylinder the inner and sliding sleeve (3) slide is in same plane, when described sliding sleeve (3) props up each positioning body (5) inner, sliding sleeve (3) forces the outer end of each positioning body (5) to snap onto in corresponding outside fix hole (61).
7. robot clamp quick-change mechanism according to claim 1, is characterized in that, the exterior contour of one end that described sliding sleeve (3) contacts with positioning body (5) is stage body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210429763.9A CN102922534B (en) | 2012-10-31 | 2012-10-31 | Robot clamp quick-change mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210429763.9A CN102922534B (en) | 2012-10-31 | 2012-10-31 | Robot clamp quick-change mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102922534A CN102922534A (en) | 2013-02-13 |
| CN102922534B true CN102922534B (en) | 2015-09-30 |
Family
ID=47637534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210429763.9A Active CN102922534B (en) | 2012-10-31 | 2012-10-31 | Robot clamp quick-change mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102922534B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149102B (en) * | 2014-07-04 | 2015-09-09 | 哈尔滨博强机器人技术有限公司 | The sabot of robot tool self-locking quick quick change |
| CN105150243A (en) * | 2015-07-24 | 2015-12-16 | 沈阳通用机器人技术股份有限公司 | Rapid changing device for robot operation tools |
| CN105345815B (en) * | 2015-11-19 | 2017-12-26 | 珠海格力电器股份有限公司 | Joint connector and robot |
| CN106737797A (en) * | 2017-03-23 | 2017-05-31 | 马鞍山工蜂智能科技有限公司 | A kind of robot fixture of automatically replaceable fixture |
| CN110614651B (en) * | 2019-10-22 | 2024-09-20 | 京东科技信息技术有限公司 | Quick connecting device, functional arm and robot |
| CN110900648A (en) * | 2019-12-10 | 2020-03-24 | 东莞市蓝企信息科技有限公司 | Robot and quick clamping mechanism of tongs thereof |
| CN110900645B (en) * | 2019-12-10 | 2021-07-30 | 赣州市绿之蓝空气治理有限公司 | Quick replacement mechanism that robot gripper used |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB826599A (en) * | 1957-04-23 | 1960-01-13 | Erik Waldemar Broden | Detachable couplings for fluid conduits |
| GB840471A (en) * | 1957-12-20 | 1960-07-06 | Flight Refueling Ltd | Improvements in or relating to plugs or closures for conduits or orifices |
| CN1118854A (en) * | 1993-10-25 | 1996-03-20 | 日东工器株式会社 | Tube line of tube connector |
| CN201154482Y (en) * | 2008-01-09 | 2008-11-26 | 北京航空航天大学 | Electric locking device for spherical hinge type joint |
| CN101913435A (en) * | 2010-07-16 | 2010-12-15 | 清华大学 | Docking device for space robot |
| CN102275167A (en) * | 2010-06-11 | 2011-12-14 | 鸿富锦精密工业（深圳）有限公司 | Clamping device |
| CN202878324U (en) * | 2012-10-31 | 2013-04-17 | 广州创研自动化设备有限公司 | Novel robot fixture rapid change mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08318490A (en) * | 1996-07-01 | 1996-12-03 | Fujitsu Ltd | Harmonized deceleration mechanism of robot hinge |
-
2012
- 2012-10-31 CN CN201210429763.9A patent/CN102922534B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB826599A (en) * | 1957-04-23 | 1960-01-13 | Erik Waldemar Broden | Detachable couplings for fluid conduits |
| GB840471A (en) * | 1957-12-20 | 1960-07-06 | Flight Refueling Ltd | Improvements in or relating to plugs or closures for conduits or orifices |
| CN1118854A (en) * | 1993-10-25 | 1996-03-20 | 日东工器株式会社 | Tube line of tube connector |
| CN201154482Y (en) * | 2008-01-09 | 2008-11-26 | 北京航空航天大学 | Electric locking device for spherical hinge type joint |
| CN102275167A (en) * | 2010-06-11 | 2011-12-14 | 鸿富锦精密工业（深圳）有限公司 | Clamping device |
| CN101913435A (en) * | 2010-07-16 | 2010-12-15 | 清华大学 | Docking device for space robot |
| CN202878324U (en) * | 2012-10-31 | 2013-04-17 | 广州创研自动化设备有限公司 | Novel robot fixture rapid change mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102922534A (en) | 2013-02-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102922534B (en) | Robot clamp quick-change mechanism | |
| CN202984712U (en) | Floating clamp for lathe | |
| CN202528137U (en) | Circlip for shaft mounting tool | |
| CN202878324U (en) | Novel robot fixture rapid change mechanism | |
| CN110900071A (en) | Internal stay formula positioning and clamping mechanism | |
| CN204487235U (en) | A kind of wheel center positioning fixture | |
| CN105666097A (en) | Front lower control arm front bushing pressing tool | |
| CN202427777U (en) | Core shaft of pipe bender | |
| CN204018762U (en) | Three-jaw high speed hollow Oil-pressure clamping head | |
| CN104401194A (en) | Method for processing rubber bushing of automobile suspension | |
| CN102528477B (en) | Axial positioning clamp for connecting shaft bevel gear | |
| CN103522099B (en) | A kind of Rocker arm drilling tool | |
| CN202491843U (en) | Pull rod spherical shell forged piece | |
| CN205166348U (en) | Vehicle air conditioner pipeline accessory automatic assembly device | |
| CN213888830U (en) | Chuck clamping device and chuck | |
| CN205228400U (en) | Input/output axle assembly centering device | |
| CN203092176U (en) | Inner supporting tool for machining sleeve-type part | |
| CN209157031U (en) | The vehicle seat bracket riveting equipment of multidirectional processing can be achieved | |
| CN202087988U (en) | Shaft fastening auxiliary device | |
| CN203847589U (en) | Protective structure of clutch master cylinder | |
| CN201353654Y (en) | Combined boring cutter bar | |
| CN203330227U (en) | Device capable of improving precision of punching frame | |
| CN204194849U (en) | A kind of brake hub positioning fixture frock | |
| CN204076000U (en) | A kind of steering gear workpiece positioning clamp | |
| CN104029110A (en) | Full-automatic valve rod ultra-precision grinding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180522 Address after: 410116 Hunan Zhenhua Road, Yuhua District, Changsha 199, Hunan environmental science and Technology Industrial Park Business Center 101 (631 room) Patentee after: Hunan Chuang Yan Intelligent Equipment Co., Ltd. Address before: 510735 Room 102, Sha Bu Bao Sha Road, Whampoa District, Guangzhou, Guangdong, 102 Patentee before: Guangzhou Advantech Automation Equipment Co., Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Robot fixture quick change mechanism Effective date of registration: 20220607 Granted publication date: 20150930 Pledgee: Bank of Changsha Co.,Ltd. Jincheng sub branch Pledgor: HUNAN CHUANGYAN INTELLIGENT EQUIPMENT Co.,Ltd. Registration number: Y2022430000038 |